Research On Underwater Ship Hull Cleaning Robot Pivotal Technologies

The Underwater Ship Hull Cleaning Robot is a device running in the water, which use the arm-and-hand system or other kind of tools to replace or assist the people to complete the underwater mission. The robot has the sensor of optic or some other kinds of sensors and can be controlled in the distance or in the autonomous way. The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot and has wide application value.The dissertation introduced the development situation and the application instance of The Underwater Ship Hull Cleaning Robot in the domestic and in the word firstly, then puts forward the structure scheme which adopt liquid drive ,computer control the technique, thrust adsorption and moving on wheels or wheels.Secondly, the dissertation establishes mechanics model of the robot in stationary and moving state and analyses the robot movement.In the dissertation, the orient model of the robot in the water or beyond on the water was established. In the some time, the detailed analysis and calculation on the orient model and on the gesture of robot on the water have been done.Through the analyzing the different motive of the part in the robot, the different hydraulic drive mode and hydraulic motor is choose. The chosen hydraulic actiyator is a kind of efficient model which makes the robot working reliably.The robot is controlled in two-level which is combined by computer and the MCU. So the control system based on the MCU and the microcomputer is designed.The development of Underwater Ship Hull Cleaning Robot is a replacer for people working, which also can raise labour productivity and make a new long-term outlook for the brush mechanization.